Event-Triggered Consensus of Second-Order Multi-Agent Systems with Prescribed Performance

Abstract

In this paper, a new approach to design event-triggered control protocol (ETCP) for second-order multi-agent systems (MASs) with prescribed performance is proposed. First of all, we introduce a nonlinear control protocol integrating a prescribed performance function and an error transformation function, thereby guaranteeing the prescribed performance with respect to the convergence of the position. Based on the nonlinear control protocol, an edge-based event-triggered control strategy is designed, where the neighbors' position information is only required at the triggering time instants. Furthermore, it is showed that Zeno-free property holds for each agent. In the end, a simulation case is provided to verify the conclusion.